[−][src]Struct glam::Quat
A quaternion representing an orientation.
This quaternion is intended to be of unit length but may denormalize due to floating point "error creep" which can occur when successive quaternion operations are applied.
This type is 16 byte aligned.
Implementations
impl Quat
[src]
pub fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Self
[src]
Creates a new rotation quaternion.
This should generally not be called manually unless you know what you are doing. Use one of
the other constructors instead such as identity
or from_axis_angle
.
from_xyzw
is mostly used by unit tests and serde
deserialization.
pub fn identity() -> Self
[src]
pub fn from_slice_unaligned(slice: &[f32]) -> Self
[src]
Creates a new rotation quaternion from an unaligned &[f32]
.
Preconditions
The resulting quaternion is expected to be of unit length.
Panics
Panics if slice
length is less than 4.
pub fn write_to_slice_unaligned(self, slice: &mut [f32])
[src]
pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self
[src]
Create a new quaterion for a normalized rotation axis and angle (in radians).
pub fn from_rotation_x(angle: f32) -> Self
[src]
Creates a new quaternion from the angle (in radians) around the x axis.
pub fn from_rotation_y(angle: f32) -> Self
[src]
Creates a new quaternion from the angle (in radians) around the y axis.
pub fn from_rotation_z(angle: f32) -> Self
[src]
Creates a new quaternion from the angle (in radians) around the z axis.
pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Self
[src]
Create a quaternion from the given yaw (around y), pitch (around x) and roll (around z) in radians.
pub fn from_rotation_mat3(mat: &Mat3) -> Self
[src]
Creates a new quaternion from a 3x3 rotation matrix.
pub fn from_rotation_mat4(mat: &Mat4) -> Self
[src]
Creates a new quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.
pub fn to_axis_angle(self) -> (Vec3, f32)
[src]
Returns the rotation axis and angle of self
.
pub fn conjugate(self) -> Self
[src]
Returns the quaternion conjugate of self
. For a unit quaternion the
conjugate is also the inverse.
pub fn dot(self, other: Self) -> f32
[src]
Computes the dot product of self
and other
. The dot product is
equal to the the cosine of the angle between two quaterion rotations.
pub fn length(self) -> f32
[src]
Computes the length of self
.
pub fn length_squared(self) -> f32
[src]
Computes the squared length of self
.
This is generally faster than Quat::length()
as it avoids a square
root operation.
pub fn length_reciprocal(self) -> f32
[src]
Computes 1.0 / Quat::length()
.
For valid results, self
must not be of length zero.
pub fn normalize(self) -> Self
[src]
Returns self
normalized to length 1.0.
For valid results, self
must not be of length zero.
pub fn is_normalized(self) -> bool
[src]
Returns whether self
of length 1.0
or not.
Uses a precision threshold of 1e-6
.
pub fn is_near_identity(self) -> bool
[src]
pub fn abs_diff_eq(self, other: Self, max_abs_diff: f32) -> bool
[src]
Returns true if the absolute difference of all elements between self
and other
is less than or equal to max_abs_diff
.
This can be used to compare if two Quat
's contain similar elements. It
works best when comparing with a known value. The max_abs_diff
that
should be used used depends on the values being compared against.
For more on floating point comparisons see https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
pub fn lerp(self, end: Self, s: f32) -> Self
[src]
Performs a linear interpolation between self
and other
based on
the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to other
.
pub fn slerp(self, end: Self, s: f32) -> Self
[src]
Performs a spherical linear interpolation between self
and end
based on the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to end
.
Note that a rotation can be represented by two quaternions: q
and
-q
. The slerp path between q
and end
will be different from the
path between -q
and end
. One path will take the long way around and
one will take the short way. In order to correct for this, the dot
product between self
and end
should be positive. If the dot
product is negative, slerp between -self
and end
.
pub fn mul_vec3a(self, other: Vec3A) -> Vec3A
[src]
Multiplies a quaternion and a 3D vector, rotating it.
pub fn mul_vec3(self, other: Vec3) -> Vec3
[src]
Multiplies a quaternion and a 3D vector, rotating it.
pub fn mul_quat(self, other: Self) -> Self
[src]
Multiplies two quaternions. Note that due to floating point rounding the result may not be perfectly normalized.
pub fn x(self) -> f32
[src]
Returns element x
.
pub fn y(self) -> f32
[src]
Returns element y
.
pub fn z(self) -> f32
[src]
Returns element z
.
pub fn w(self) -> f32
[src]
Returns element w
.
Trait Implementations
impl AsMut<[f32; 4]> for Quat
[src]
impl AsRef<[f32; 4]> for Quat
[src]
impl Clone for Quat
[src]
impl Copy for Quat
[src]
impl Debug for Quat
[src]
impl Default for Quat
[src]
impl Display for Quat
[src]
impl From<[f32; 4]> for Quat
[src]
impl From<(f32, f32, f32, f32)> for Quat
[src]
impl From<Quat> for Vec4
[src]
impl From<Quat> for (f32, f32, f32, f32)
[src]
impl From<Quat> for [f32; 4]
[src]
impl From<Quat> for __m128
[src]
impl From<Vec4> for Quat
[src]
impl From<__m128> for Quat
[src]
impl Mul<Quat> for Quat
[src]
type Output = Self
The resulting type after applying the *
operator.
fn mul(self, other: Self) -> Self
[src]
impl Mul<Vec3> for Quat
[src]
type Output = Vec3
The resulting type after applying the *
operator.
fn mul(self, other: Vec3) -> Self::Output
[src]
impl Mul<Vec3A> for Quat
[src]
type Output = Vec3A
The resulting type after applying the *
operator.
fn mul(self, other: Vec3A) -> Self::Output
[src]
impl MulAssign<Quat> for Quat
[src]
fn mul_assign(&mut self, other: Self)
[src]
impl Neg for Quat
[src]
impl PartialEq<Quat> for Quat
[src]
impl PartialOrd<Quat> for Quat
[src]
Auto Trait Implementations
impl RefUnwindSafe for Quat
impl Send for Quat
impl Sync for Quat
impl Unpin for Quat
impl UnwindSafe for Quat
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
[src]
T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
[src]
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
[src]
impl<T> From<T> for T
[src]
impl<T, U> Into<U> for T where
U: From<T>,
[src]
U: From<T>,
impl<T> ToOwned for T where
T: Clone,
[src]
T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
[src]
fn clone_into(&self, target: &mut T)
[src]
impl<T> ToString for T where
T: Display + ?Sized,
[src]
T: Display + ?Sized,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
[src]
U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
[src]
impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
[src]
U: TryFrom<T>,